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MC: Move all multicopter configs to PWM min/max params

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This commit is contained in:
Lorenz Meier
2015-07-26 10:52:09 +02:00
parent e84d97b387
commit 509b8c1c24
3 changed files with 25 additions and 33 deletions
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ROMFS/px4fmu_common/init.d/4010_dji_f330
+2 -15
View File
@@ -21,25 +21,12 @@ then
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set PWM_DISARMED 900
# DJI ESCs do not support calibration and need a higher min
param set PWM_MIN 1230
param set PWM_MAX 1950
fi
# Transitional support: ensure suitable PWM min/max param values
if param compare PWM_MIN 1000
if param compare PWM_MIN 1075
then
param set PWM_MIN 1230
fi
if param compare PWM_MAX 2000
then
param set PWM_MAX 1950
fi
if param compare PWM_DISARMED 0
then
param set PWM_DISARMED 900
fi
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
ROMFS/px4fmu_common/init.d/4011_dji_f450
+2 -15
View File
@@ -22,25 +22,12 @@ then
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set PWM_DISARMED 900
# DJI ESCs do not support calibration and need a higher min
param set PWM_MIN 1230
param set PWM_MAX 1950
fi
# Transitional support: ensure suitable PWM min/max param values
if param compare PWM_MIN 1000
if param compare PWM_MIN 1075
then
param set PWM_MIN 1230
fi
if param compare PWM_MAX 2000
then
param set PWM_MAX 1950
fi
if param compare PWM_DISARMED 0
then
param set PWM_DISARMED 900
fi
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
ROMFS/px4fmu_common/init.d/rc.mc_defaults
+21 -3
View File
@@ -14,13 +14,31 @@ then
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set PWM_DISARMED 900
param set PWM_MIN 1075
param set PWM_MAX 1950
fi
# Transitional support: ensure suitable PWM min/max param values
if param compare PWM_MIN 1000
then
param set PWM_MIN 1075
fi
if param compare PWM_MAX 2000
then
param set PWM_MAX 1950
fi
if param compare PWM_DISARMED 0
then
param set PWM_DISARMED 900
fi
# set environment variables (!= parameters)
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1075
set PWM_MAX 2000
# tell the mixer to use parameters for these instead
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
# This is the gimbal pass mixer
set MIXER_AUX pass